Object-Goal-Navigation
Object-Goal-Navigation copied to clipboard
devendrachaplot
Issue about the generated occupancy map.
Hey! Thanks for your awesome work here!
I have a question as below:
When I visualize the agent_view and corresponding RGB (from obs) in model. Semantic_Mapping.forward, I found that the generated occupancy map is opposite to the occupancy of the actual scene in RGB. For example, in the figure below, the generated object A in the generated map is on the right side of the agent, while in the real RGB it is on the left. Several other major objects can also be seen from the red two-way arrows.
At first, I thought that after applying the rotated and translated operation behind, this situation would disappear. But when I continue to visualize translated, it seems that this situation still exists (shown as below). Can you explain why this is? Thanks!
hello, may I ask that, can you get an occupancy map which has the same shape as ground-truth? I mean, besides the problem you mentioned, does semantic mapping module work well?
You just need to flip the visualization vertically. The mapping code logic is correct.
